CN101478918B - Parallel stereovision geometry in image-guided radiosurgery - Google Patents

Abstract

A method and apparatus in an image-guided radiation treatment system for determining an in-treatment 3-D position of a patient and for registering the 3-D in-treatment position of the patient with a pre-treatment 3-D scan of the patient.

Description

Parallel stereovision geometry in the image-guided radiosurgery

Technical field

Embodiments of the present invention relate to the medical imaging field, particularly relate to the parallel stereovision in the image guided radiation therapy system.

Background technology

Radiosurgery and radiation therapy system are by using outside radiation beam to treat the radiotherapy system of pathological tissues (for example tumor, damage, vascular malformation, mentally deranged or the like) to the minimized pathological tissues that simultaneously lonizing radiation (for example X ray or gamma-rays) of prescribed dose shone of the radio exposure of surrounding tissue and critical anatomical structures (for example vertebrae) making.Radiosurgery and radiation therapy all are designed to do not make the pathological tissues necrosis in healthy tissue and the key structure.Radiation therapy is characterised in that each treatment of low radiological dose and repeatedly treatment (for example 30 to 45 days treatment).Radiosurgery is characterised in that the higher relatively radiological dose in once or at the most treating several times.

In radiation therapy and radiosurgery, radiological dose all is implemented into pathological tissues from a plurality of angles.Because the angle difference of each radiation beam, so each beam can intersect at by the occupied target area of pathological tissues, each beam is travelled to and fro between the zones of different of passing health tissues in the way of this target area at it simultaneously.As a result, the cumulative radiation dose height in the target area, and the average radiation dose of arrival health tissues and key structure is low.Radiation therapy and radiosurgery therapy system can be divided into based on framework with image guiding.

In radiosurgery and radiation therapy, inflexiblely stretch into that the formula framework is fixed in the patient so that in the implementation phase of whole diagnosing image and treatment plan stage and successive treatment the patient is maintained static based on framework.Described framework is fixed on one's body the patient during whole process.Image-guided radiosurgery and radiation therapy (IGR) are by moving forward into line trace to the patient and correction has been eliminated stretching into the needs of formula frame fixation during treating.

Image-guided radiotherapy and radiosurgery system can be divided into based on (gantry-based) of stand or based on (robotic-based) of robot.In the system based on stand, radioactive source is attached on single plane around the mobile stand of center of rotation (waiting the center).When implementing radiation beam during treating, the axle of beam passes centers such as described at every turn.In some systems based on stand that are called as Intensity Modulation Radiated Therapy (IMRT) (IMRT) system, the cross section of beam is shaped to and makes beam meet pathological tissues in the treatment.In the system based on robot, radioactive source is not restricted to single Plane of rotation.

In some image guidance systems, patient during the treatment follows the tracks of and can realize by the 2D of radioscopic image (the indication patient where) in patient's the 2D treatment and one or more pretreat 3D area studys (study) of patient is carried out registration with reference to projection (indication patient should where with the partner treatment plan), and the position of change patient or radioactive source is to revise poor between two groups of images.Described pretreat 3D area study can be computerized tomography (CT) scanning, NMR (Nuclear Magnetic Resonance)-imaging (MRI) scanning, positron emission tomography (PET) scanning or the like.

Be called as being generated by using ray tracing algorithm of digital reconstruction actinogram (DRR) with reference to projection (reference picture), the known geometry that described ray tracing algorithm duplicates x-ray imaging system in the treatment with produce with treatment in the image of radioscopic image with same scale and orientation.Usually, x-ray system uses two of two x-ray sources and the patient place x ray cameras that become wide-angle (for example 90 spend) to form patient's image in the treatment.This method makes the sensitivity maximization that radioscopic image moves the patient in each treatment, but it can produce two totally different radioscopic images as shown in Figure 1.In Fig. 1, characteristics of lesion (for example bone) is come imaging with two x-ray sources separate 90 degree with two x ray camera.In a photographing unit, form the length of bone and the image of width, and in another photographing unit, form the image of the cross section of bone.Described two radioscopic images are totally different, need the position of determining the patient and make it with the pretreat plan be complementary before, make independent DRR and each radioscopic image registration mutually.

Description of drawings

In the diagram of accompanying drawing, the present invention is described by exemplary and nonrestrictive mode, wherein:

Fig. 1 shows wide-angle x-ray imaging;

Fig. 2 A shows an embodiment of center image guided radiation treatment system such as non-;

Fig. 2 B shows image and guides the radiocurable embodiments in center such as non-;

Fig. 3 shows an embodiment of parallel stereovision imaging;

Fig. 4 shows an embodiment of image guided radiation therapy;

Fig. 5 shows the plane graph of an embodiment of parallel stereovision geometry;

Fig. 6 shows another plane graph of an embodiment of parallel stereovision geometry;

Fig. 7 shows the flow chart of an embodiment of the method for the parallel stereovision in the radiotherapy system; And

Fig. 8 shows the system that wherein can realize embodiments of the present invention.

The specific embodiment

In the following description, many specific detail have been set forth, such as the example of specific features, equipment, method or the like, so that the thorough understanding of embodiments of the present invention is provided.Yet it will be evident to one skilled in the art that does not need to adopt these specific detail to put into practice embodiments of the present invention.In other cases, do not describe well-known material or method as yet in detail to avoid unnecessarily obscure embodiments of the present invention.As used herein term " coupling " can mean direct coupling or by one or more intermediate members or system and INDIRECT COUPLING.Here employed term " radioscopic image " can mean the numeral (for example file of exporting corresponding to the pixel of X-ray detector) of visual radioscopic image (for example being presented on the video screen) or radioscopic image.Here the image that employed term " image in the treatment (in-treatment image) " is gathered during can referring to the implementation phase of the treatment of radiosurgery or radiation therapy program at any time, described any time point can comprise the moment that radioactive source is opened or closed.Here employed term IGR can refer to image-guided radiotherapy, image-guided radiosurgery or the two.

Unless RUGEN clearly indicates in discussing down according to this, otherwise will recognize such as " processing ", " generation ", " determine ", " calculating ", " location ", " tracking " or the like term can refer to computer system, or the action of similar electronic computing device and processing, described computer system, or the action of similar electronic computing device becomes similarly to be expressed as computer system memory or depositor or the storage of other this type of information with the data of handling physics (or electronics) amount of handling in the RS that is represented as computer system and with this data transaction, other data of physical quantity in transmission and the display device.The embodiment of the method described herein software that can use a computer is realized.If write, be designed to then to realize that the job sequence of described method can be by compiling to be used for the execution on the various hardware platforms and to be used for and the docking of various operating systems with the programming language that meets Recognized Standards.In addition, embodiments of the present invention are not described with reference to any certain programmed language.Will be appreciated that and to realize embodiments of the present invention with various programming languages.

Several different methods and device are described, this method and apparatus is used for by using parallel stereovision geometry with patient's treatment position and pretreat 3D area study registration mutually, thereby the tracking patient moves during image guiding radiation cure and/or radiotherapy.In the following explanation of embodiments of the present invention, x-ray imaging can be used the exemplary imaging pattern that acts on imaging in the 2D treatment.Similarly, CT scan can be used the exemplary imaging pattern that acts on diagnosis of 3D pretreat and treatment plan research.Those skilled in the art will appreciate that other 3D imaging pattern (for example MRI, PET, 3D ultrasound wave) and other 2D imaging pattern (for example fluoroscopy) also can serve the same role in other embodiments.

Fig. 2 A shows image guiding, based on the structure of the radiotherapy system 200 of robot (the ejected wave cutter of making by California Ai Kerui (Accuray) company for example

(CyberKnife ) radiotherapy system), in this structure, can put into practice embodiments of the present invention.In Fig. 2 A, described brachytherapy sources is a linear accelerator (LINAC) 211, this linear accelerator (LINAC) 211 is installed on the end of the robotic arm 213 (shown in Fig. 4) with a plurality of (for example 5 or more than) degree of freedom, with location LINAC 211, thereby in the operative region around the patient 209, utilize a plurality of angles are implemented in a plurality of planes roentgenotherapia beam (for example beam 212A, 212B, 212C) to shine pathological tissues (target area or zone) among the patient 209.Treatment can relate to have center such as single, center such as a plurality of or have the course of the beam of center channel such as non-.Fig. 2 B shows the center radiotherapy such as non-in the embodiment.In Fig. 2 B, for example treat the pathological tissues (for example tumor) of growth around vertebrae 215 by radiation therapy beam 216,217,218 and 219, described radiation therapy beam 216,217,218 and 219 each all under not converging at a single point in the target or isocentric situation, run through pathological changes target area 214.

Get back to Fig. 2 A, imaging system 200 can comprise x-ray source 201A and 201B and x-ray imaging device (detector) 206A and 206B.Described two x-ray source 201A and 201B can be installed in the fixed position on the ceiling 207 of operating room and can be adjusted to from two different position projection imaging X-ray beam 202A and 202B, make that the imaging axis 203A of beam 202A is parallel with the imaging axis 203B of beam 202B basically, and the ray 204A of beam 202A and the ray 204B of beam 202B intersect at imaging center centers such as () machines M place, and described imaging center centers such as () machines M is provided for the reference point of the patient 209 on the location LINAC 211 and therapeutic bed 210 during treating.Pass after the patient 209, imaging X-ray beam 202A and 202B can illuminate each imaging surface of x-ray imaging device 206A and 206B, and described x-ray imaging device 206A and 206B can be installed near 208 places, floor or and be parallel to each other basically (for example in the scope of 5 degree) of operating room. X-ray imaging device 206A and 206B be coplane basically, makes the imaging surface of x-ray imaging device 206A and 206B form single imaging plane.In one embodiment, x-ray imaging device 206A and 206B can replace with single x-ray imaging device 206 (shown in Fig. 4), and it has even as big as gathering the single imaging plane of the image that is produced by X-ray beam 202A and 202B.As described in greater detail below, can dispose radiotherapy system 200, make ray 204A so that the angle (for example 45 degree or following) less than 90 degree is crossing with ray 204B substantially.In one embodiment, can calibrate X-ray beam 202A and 202B and/or determine its shape, so that only radiate that part of beam that can illuminate the x-ray imaging device, such as X-ray beam 205A and 205B.

In other embodiments, radiotherapy system 200 can comprise greater or less than two x-ray source and and greater or less than two detector, and in described detector and/or the described source any one all is movably and revocable.In other other embodiment, the position of x-ray source and detector can exchange or rotate (for example wall type is installed, make beam 202A and 202B basic horizontal).

X-ray imaging device 206A and 206B can make by the scintillation material that X ray is converted to visible light (for example non-crystalline silicon) with CMOS (complementary metal oxide silicon) or CCD (charge-coupled image sensor) image-generating unit (pixel) array that described light converts digital picture to, described digital picture can by as the digital processing system hereinafter described in more detail handle.

In one embodiment, the method that is used for the parallel stereovision of image guided radiation therapy system comprises utilizes two or more imaging x-ray sources with substantially parallel imaging axis to come the three-dimensional in the imaging region (3D) feature is carried out imaging, determine the position of 3D feature in imaging region, and by with the 3D pretreat area study of described 3D feature and imaging region mutually registration follow the tracks of 3D feature in the imaging region.The 3D feature is carried out imaging can comprise the substantially parallel radioscopic image that generates imaging region, described substantially parallel radioscopic image comprises first radioscopic image and second radioscopic image at least.First radioscopic image can comprise the characteristics of image corresponding to the 3D feature in the imaging region.Second radioscopic image also can comprise the characteristics of image corresponding to the 3D feature in the imaging region, and the characteristics of image in second radioscopic image can be substantially similar to the characteristics of image in first radioscopic image.Determining that the position of 3D feature in imaging region can comprise is complementary obtaining the characteristics of image of a pair of coupling first characteristics of image and second characteristics of image, and determines the position of 3D feature in imaging region according to the plane coordinates of described a pair of matching image feature in imaging plane.

Fig. 3 shows the parallel stereovision imaging in radiotherapy system 200 for example.In Fig. 3, two x-ray imaging device 206A by becoming the θ angle at imaging center M place and 206B and two x-ray source 201A and 201B form the image that is positioned near the 3D anatomical features 301 (for example being similar to the bone of the bone of Fig. 1) the imaging center M, and described θ angle is basically less than 90 degree (for example less than 45 degree).The image of anatomical features 301 is projected among x-ray imaging device 206A and the 206B.Yet different with projection shown in Figure 1, these two projections are closely similar.Image 302 among the x-ray imaging device 206A is elongated, and the image 303 among the x-ray imaging device 206B is shortened.Yet, two images all comprise feature, this feature is those images with same anatomical object, feature with image identification, described anatomical object, feature can be by known feature recognition algorithms in the medical imaging field (referring to people's such as for example Murphy U.S. Patent No.s 5,901,199) discern, extract and mate.θ is reduced along with angle, and the scope that produces the 3D feature orientations of similar projection in x-ray imaging device 206A and x-ray imaging device 206B will increase, and increase the number of the characteristics of image that can be identified, extract and mate.Characteristics of image can be anatomical edges, shape, image gradient, profile, object surface, object segmentation or similar anatomical features.Characteristics of image also can be by by producing such as the artificial means of for example placing and/or implant reference mark in patient body.

Fig. 4 shows the parallel stereovision geometry in image guided radiation therapy system 400 for example.In Fig. 4, LINAC 211 is installed on the robotic arm 213, and the some P that is positioned as in area for treatment applies radiation beam 220.For guarantee point P overlaps with desired point in the pathological tissues, can be with position in patient's the treatment and the patient's pretreat 3D scanning (for example CT scan) that is used for the treatment of plan registration mutually.As described below, parallel stereovision geometry makes it possible under the situation of not using DRR radioscopic image in the 2D treatment is directly changed into position data in the 3D treatment.

In Fig. 4, x-ray source 401A is from having some A projection X-ray beam and the ray 402A of beam axis AC, and this ray 402A passes imaging center M, and intersects at right picture centre O in the right-half plane of imaging plane 406 with imaging plane 406 _RSimilarly, x-ray source 401B is from having some B projection X-ray beam and the ray 402B of beam axis BD, this ray 402B to be becoming angle θ to pass imaging center M with described ray 402A, and intersects at left picture centre O in the left demifacet of imaging plane 406 with imaging plane 406 _LUpright projection from a M to imaging plane (perpendicular to imaging plane 406) can limit initial point O and the imaging axis OM the imaging plane.X-ray source 401A is projection radiation 403A also, this ray 403A crossing point P, and intersect at a P with the imaging plane of imager 406 _R, described some P _RThe displacement ξ that can on the x coordinate direction, depart from imaging axis OM by it _RWith and on the y coordinate direction, depart from the displacement ψ of imaging axis OM _RLimit.Similarly, x-ray source 401B projection radiation 403B, this ray 403B crossing point P, and intersect at a P with the imaging plane of imager 406 _L, described some P _LCan on the x coordinate direction, depart from imaging axis O by it _MDisplacement ξ _LWith and on the y coordinate direction, depart from the displacement ψ of imaging axis OM _LLimit.The position of point P can be limited by coordinate ξ, ψ and the ζ about initial point O, and wherein ζ limits the height on the imaging plane 406, and the position of ξ and the upright projection E of ψ qualified point P in imaging plane 406.X-ray beam each point in the right imaging region be projected by this way, make a radioscopic image of imaging region be projected to (left image) on the left demifacet, and basic similarly another image is projected to (right image) on the right-half plane.Especially, the 3D anatomical features in the imaging region can be projected as basic similarly characteristics of image (for example turning, end points, bent limit) in left image and right image.Radiotherapy system 400 can also be by the interval b between x-ray source 401A and the 401B with by the x-ray source 401A of imaging plane more than 406 and the α of height separately of 401B _LAnd α _RLimit, wherein beam axis AC and BD are perpendicular to the line segment CD of the initial point O that passes through imaging plane 406.

Fig. 5 has illustrated the geometry of the imaging system in the radiotherapy system 400 in the X-Z plane.In Fig. 5, triangle ACP _RWith triangle PEP _RSimilar, and triangle BDP _LWith triangle PEP _LSimilar.Similar triangles have similar ratio, therefore:

$\frac{{\stackrel{\‾}{\mathrm{CP}}}_R}{\stackrel{\‾}{\mathrm{CA}}}=\frac{{\stackrel{\‾}{\mathrm{EP}}}_R}{\stackrel{\‾}{\mathrm{EP}}}---\left(1\right)$

And,

$\frac{{\stackrel{\‾}{\mathrm{DP}}}_L}{\stackrel{\‾}{\mathrm{DB}}}=\frac{{\stackrel{\‾}{\mathrm{EP}}}_L}{\stackrel{\‾}{\mathrm{EP}}}---\left(2\right)$

Wherein go up line expression line segment.Therefore,

$\frac{b/2+x_R}{a_L}=\frac{x_R-x}{z}---\left(3\right)$

And

$\frac{b/2+x_L}{a_R}=\frac{x_L+x}{z}---\left(4\right)$

For a _L=a _RThe situation of=a is (for a _L≠ a _R, can calculate calibration factor as known in the art like that), can be with equation (1) and (2) addition,

$\frac{b+x_R+X_L}{a}=\frac{x_R+x_L}{z}---\left(5\right)$

Subtract each other,

$\frac{x_R-x_L}{a}=\frac{x_R-x_L-2x}{z}---\left(6\right)$

Make ∑=x _R+ x _L, and Δ=x _R-x _L, can obtain

$z=a\left(\frac{\mathrm{\Σ}}{b+\mathrm{\Σ}}\right)---\left(7\right)$

With

$x=\frac{\mathrm{\Δ}}{2}(1-\frac{\mathrm{\Σ}}{b+\mathrm{\Σ}})---\left(8\right)$

Fig. 6 has illustrated the geometry of the imaging system in the radiotherapy system 400 in X-Y plane.In Fig. 6, some F is a P _LProjection on the ξ axle, and some G is a P _RProjection on the ξ axle.Triangle AGP _RAEP is similar to triangle, and triangle BFP _LPEP is similar to triangle.Therefore:

$\frac{\stackrel{\‾}{\mathrm{AG}}}{{\stackrel{\‾}{\mathrm{GP}}}_R}=\frac{\stackrel{\‾}{\mathrm{AE}}}{\stackrel{\‾}{\mathrm{EP}}}---\left(9\right)$

And,

$\frac{\stackrel{\‾}{\mathrm{BF}}}{{\stackrel{\‾}{\mathrm{FP}}}_L}=\frac{\stackrel{\‾}{\mathrm{BE}}}{\stackrel{\‾}{\mathrm{EP}}}---\left(10\right)$

Therefore, for y, there are two independent solutions:

$y_1=\frac{(b/2+x)}{(b/2+x_R)}{y}_R---\left(11\right)$

With

$y_2=\frac{(b/2-x)}{(b/2+x_L)}{y}_L---\left(12\right)$

Can average to equation (11) and (12),

$y=\frac{y_1+y_2}{2}---\left(13\right)$

And ψ found the solution,

$y=\frac{b}{\frac{b/2+x_R}{y_R}+\frac{b/2+x_L}{y_L}}---\left(14\right)$

Therefore, can be according to a P _LAnd P _RPlane coordinates come the 3D coordinate of calculation level P.Point P _LAnd P _RIt is right to be called corresponding to the conjugate point of 3D characteristic point.Any 3D feature in the imaging region can limit according to many 3D characteristic points, and described many characteristic points can be projected into similar number in imaging plane 406 for example conjugate point is right.

In one embodiment, feature extraction and recognizer can be applied to left image with right image so that from the similar substantially characteristics of image of each image extraction.Feature recognition algorithms is as known in the art (referring to for example J.B.A.Maintz, M.A.Viergever, " A Survey of Medical ImageRegistration " Medical Image Analysis (1998), Copyright Oxford University Press, Vol.2, No.1 pp.1-37), therefore will be not described in detail.After the feature extraction, similarity measurement can be applied to the feature extracted from each image, and coupling to become characteristics of image right.Be used for that the similarity measurement of registration and matching algorithm can be used for mating the feature of being extracted mutually with 2D radioscopic image and DRR.Similarity measurement and matching algorithm are well known in the art (referring to for example G.P.Penney, J.Weese, " A comparison of similarity measures for use in 2D-3D medical imageregistration; " IEEE Trans.Med.Imag., vol.17, pp.586-595, Aug., 1998), therefore will be not described in detail.

As mentioned above, characteristics of image may not be congruent, but usually can be similar basically, therefore can make the characteristic matching such as turning, end points and Qu Bian such as anatomical features.In case it is right to have matched characteristics of image, the feature decomposition of being mated can be become the conjugated image point to (for example, such as a P _LAnd P _R).When the conjugated image point of having determined one or more matching image features to the time, the equation (7), (8) and (14) that can use above derivation put right plane coordinates with conjugated image and is mapped to 3D characteristic point (such as a P) in the imaging region, to determine the position of 3D feature in imaging region.In one embodiment, can use 3D mapping algorithm as known in the art directly with the position and 3D pretreat scan-data (for example, such as digitized CT scan data) the phase registration of 3D feature.Can determine poor between the pretreat position of position and patient in the treatment of the patient during diagnosing image and/or the treatment plan to the registration results of 3D with 3D then, and revise by the position of reorientating the patient and/or revising brachytherapy sources (for example LINAC 211) described poor.

Therefore, in an embodiment as shown in Figure 7, be used for using the method 700 of parallel stereovision geometry to comprise: use two or more imaging x-ray sources to come the 3D feature in the imaging region is carried out imaging (step 701) with substantially parallel imaging axis in the image guided radiation therapy system; Determine the position (step 702) of 3D feature in imaging region; And by with the 3D pretreat area study of 3D feature and imaging region mutually registration follow the tracks of 3D feature (step 703) in the imaging region.

Fig. 8 shows an embodiment that can be used to carry out radiocurable system, can realize feature of the present invention in this embodiment.As described below and shown in Figure 8, system 800 can comprise diagnostic imaging system 1000, treatment planning systems 2000 and treatment implementation system 3000.

Diagnostic imaging system 1000 can be any system that can generate medical diagnostic image according to the 3D area study of the area-of-interest in the patient body (VOI), and its medical diagnosis, treatment plan and/or treatment that can be used for is subsequently implemented.For example, diagnostic imaging system 1000 can be computerized tomography (CT) system, NMR (Nuclear Magnetic Resonance)-imaging (MRI) system, positron emission tomography (PET) system, ultrasonic system or the like.For the ease of discussing, diagnostic imaging system 1000 can be discussed according to the CT imaging pattern once in a while hereinafter.But, also can use such as above-mentioned those other imaging pattern.

Diagnostic imaging system 1000 comprises the imaging source 1010 that generates imaging beam (for example X ray, ultrasound wave, rf wave or the like) and detects and receive the beam that generated by imaging source 1010 or the secondary beam that excited by the beam from imaging source or the imaging detector 1020 of emission (for example in MRI or PET scanning).In one embodiment, diagnostic imaging system 1000 can comprise one or more diagnosis X radials source and one or more respective imaging detector (for example conical beam CT scanner), this imaging detector can generate the 2D ray image with little angle increment, and this 2D ray image can be used for constructing 3D rendering.For example, can two x-ray sources will be set around the patient of imaging, each other with have certain between angle (for example 90 degree, 45 degree or the like) fixing and pass patient body and point to the directly imaging detector relative with x-ray source.Can also use will be by single large-scale imaging detector or a plurality of imaging detector of each x-ray imaging source irradiation.Selectively, can use the diagnosing image source and the imaging detector of other number and structure.

Imaging source 1010 and imaging detector 1020 can be coupled to digital processing system 1030, and this digital processing system 1030 is used to control imaging operation and image data processing.Diagnostic imaging system 1000 comprises bus and other device 1035 that is used for transmitting data and order between digital processing system 1030, imaging source 1010 and imaging detector 1020.Digital processing system 1030 can comprise one or more general processors (for example microprocessor), such as the application specific processor of digital signal processor (DSP) or such as other type equipment of controller or field programmable gate array (FPGA).Digital processing system 1030 can also comprise such as other parts (not shown) such as memorizer, memory device, network adapter.Digital processing system 1030 can be configured to generate digital diagnostic images with the reference format such as DICOM (digital imaging and communications in medicine) form.In other embodiments, digital processing system 1030 can generate other standard or off-gauge digital image format.Digital processing system 1030 can send to treatment planning systems 2000 with diagnostic image files (for example above-mentioned DICOM formatted file) by data link 1500, described data link 1500 can be for example direct connected link, Local Area Network link or wide area network (WAN) link, such as the Internet.In addition, in such as remote diagnosis or treatment plan structure, can draw or push away information transmitted between system by the communication media of connected system.In remote diagnosis or treatment plan, although have physical separation between system user and the patient, the user can utilize embodiments of the present invention to diagnose or treatment plan.

Treatment planning systems 2000 comprises the treatment facility 2010 of reception and image data processing.Treatment facility 2010 can represent one or more general processors (for example microprocessor), such as the application specific processor of digital signal processor (DSP) or such as other type equipment of controller, special IC (ASIC) or field programmable gate array (FPGA).Treatment facility 2010 can be configured to carry out the instruction that is used to carry out treatment plan operation discussed in this article.

Treatment planning systems 2000 can also comprise system storage 2020 (can comprise random-access memory (ram)) or other dynamic memory, described system storage 2020 is coupled to treatment facility 2010 by bus 2055, is used to store information and the instruction that will be carried out by treatment facility 2010.System storage 2020 can also be used to temporary variable or other average information during stores processor equipment 2010 execution commands.System storage 2020 can also comprise read only memory (ROM) and/or other static storage device that is coupled to bus 2055, and described read only memory (ROM) and/or other static storage device are used to store static information and the instruction that is used for treatment facility 2010.

Treatment planning systems 2000 can also comprise the memory device that is coupled to bus 2,055 2030 that is used for stored information and instruction, represents one or more memory devices (for example disc driver or CD drive).Memory device 2030 can be used for storing the instruction that is used to carry out treatment plan step described herein.

Treatment facility 2010 can also be coupled to and be used for showing the information display device 2040 of (for example the 2D of VOI or 3D represent) to the user, such as cathode ray tube (CRT) or liquid crystal display (LCD).Input equipment 2050 such as keyboard can be coupled to treatment facility 2010 to be used for to treatment facility 2010 transmission information and/or command selection.The cursor that can also use one or more other user input devices (for example mouse, trace ball or cursor direction key) to come transmission direction information, selection to be used for the order of treatment facility 2010 and control on the display 2040 moves.

To recognize, treatment planning systems 2000 is only represented an example of treatment planning systems, described treatment planning systems can have many different configurations and structure, can comprise than treatment planning systems 2000 more parts or less components and can use with the present invention.For example, some systems usually have a plurality of buses, such as peripheral bus, dedicated cache bus or the like.Treatment planning systems 2000 can also comprise that MIRIT (medical image inspection and import tool) (therefore can fusion image to support that DICOM imports, and target can be plotted in the different systems, be imported into treatment planning systems subsequently to be used for plan and Rapid Dose Calculation), be extended to the picture fusion faculty, this is extended to the picture fusion faculty and allows to carry out treatment plan on user's any one in various imaging patterns (for example MRI, CT, PET or the like) and to check dose distribution.Treatment planning systems is well known in the art, and therefore, does not provide go through more.

Treatment planning systems 2000 can with share its data base (for example being stored in the data in the memory device 2030) such as the treatment implementation system of treatment implementation system 3000, therefore can not need before treatment is implemented, derive from treatment planning systems.Treatment planning systems 2000 can via data link 2500 and be linked to treatment implementation system 3000, and described data link 2500 can be direct connected link, LAN link or the wide-area network link of being discussed about data link 1500 as mentioned.It should be noted, when data link 1500 and 2500 is implemented as LAN or WAN and is connected, in diagnostic imaging system 1000, treatment planning systems 2000 and/or the treatment implementation system 3000 any one can be positioned at dispersive position, the system that makes can be physically mutually away from.Selectively, any one in diagnostic imaging system 1000, treatment planning systems 2000 and/or the treatment irradiation system 3000 can be integrated mutually in one or more systems.

Treatment implementation system 3000 comprises treatment and/or surgery radioactive source 3010, is used for applying prescribed radiation dose to the target area according to treatment plan.Treatment implementation system 3000 can also comprise imaging system 3020, is used for gathering the treatment image in patient zone (comprising the target area), is used for and above-mentioned diagnostic image phase registration or related with it, with respect to the radioactive source position patient.Imaging system 3020 can comprise any one in the above-mentioned imaging system.Treatment implementation system 3000 can also comprise digital processing system 3030 (being used to control radioactive source 3010), imaging system 3020 and patient support apparatus, such as therapeutic bed 3040.Digital processing system 3030 can be configured to according to from the 2D ray image of imaging system 3020, discern and/or extract anatomical features according to two or more stereoprojections, and the 3D coordinate of the anatomical features in definite VOI with the 3D scan-data that generates by the treatment facility in the treatment planning systems 2,000 2010 registration mutually.Digital processing system 3030 can comprise one or more general processors (for example microprocessor), such as the application specific processor of digital signal processor (DSP) or such as other type equipment of controller, special IC (ASIC) or field programmable gate array (FPGA).Digital processing system 3030 can also comprise such as other parts (not shown) of memorizer, memory device, network adapter or the like.Digital processing system 3030 can be coupled to radioactive source 3010, imaging system 3020 and therapeutic bed 3040 by the control and the communication interface of bus 3045 or other type.

Digital processing system 3030 can implementation method (for example, such as said method 700) will carry out registration with the preceding treatment plan image of operation from the image that imaging system 3020 obtains, so that the patient's aligning on the therapeutic bed 3040 in the treatment implementation system 3000, and accurately determine the position of radioactive source about the target area.

Therapeutic bed 3040 can be coupled to another robotic arm (not shown) with a plurality of (for example 5 or more than) degree of freedom.The bed arm can have five rotational freedoms and a vertical substantially linear degree of freedom.Selectively, described bed arm can have six rotational freedoms and a vertical substantially linear degree of freedom or at least four rotational freedoms.The bed arm can vertically be installed to railing or wall or flatly be installed to base, floor or ceiling.Selectively, therapeutic bed 3040 can be the parts of another mechanical mechanism, such as the Aksum by the exploitation of Ai Kerui (Accuray) company of California

(Axum ) therapeutic bed, perhaps can be the conventional therapy platform of another kind of type known to those skilled in the art.

It should be noted that method and apparatus as herein described is not limited to be used for diagnosis imaging and treatment.In optional embodiment, the method and apparatus of this paper can be used for the application outside the medicine technology field, such as the industrial imaging of material and nondestructive test(ing) (for example motor bed-plate in the auto industry, airframe, welding in the building industry and the drilling well rock core in the petroleum industry in the aircraft industry) and seismic survey.In this type of was used, for example, " treatment " can make a general reference the application of radiation beam.

It is evident that by above stated specification method of the present invention can embody at least in part in software.That is to say, can in computer system or other data handling system, carry out described technology in response to its processor, described processor for example is treatment facility 2010 or digital processing system 3030, carries out to be included in such as the job sequence in the memorizer of system storage 2020.In various embodiments, can combine the use hardware circuit with software instruction to realize the present invention.Therefore, described technology is not limited to any particular source of the performed instruction of any particular combinations of hardware circuit and software or data handling system.In addition, in this manual, various functions and operation all are described to be carried out or caused with simplified illustration by software code.Yet the meaning that person of skill in the art will appreciate that this type of expression is that described function is caused by processor or controller run time version such as treatment facility 2010 or digital processing system 3030.

Can come storing software and data with machine readable media, described software and data impel system to carry out the whole bag of tricks of the present invention when being carried out by data handling system.But this executive software and data can be stored in diverse location, comprise for example system storage 2020 and memory device 2030 or can the storing software program and/or any miscellaneous equipment of data.

Therefore, machine readable media comprises with the addressable form of machine (for example computer, the network equipment, personal digital assistant, fabrication tool, have any equipment of one group of one or more processor or the like) provides any mechanism of (promptly store and/or send) information.For example, but machine readable media comprises transmitting signal (for example carrier wave, infrared signal, digital signal or the like) of record/non-recordable medium (for example read only memory (ROM), random-access memory (ram), disk storage media, optical storage medium, flash memory device or the like) and electricity, optics, acoustics or other form or the like.

It should be understood that this description means special characteristic, structure or the characteristic described in conjunction with described embodiment to the reference of " embodiment " or " embodiment " from start to finish and is included at least one embodiment of the present invention.Therefore, emphasized and it should be understood that in the different piece of this description " embodiment " or " embodiment " or " optional embodiment " twice or more times with reference to whole identical embodiment of indication not necessarily.In addition, can be in one or more embodiments of the present invention, suitably to make up described special characteristic, structure or characteristic.In addition, though the invention is not restricted to described embodiment to have described the present invention according to a plurality of embodiments, those skilled in the art will recognize that.Under the situation of the scope that does not break away from the claim of enclosing, can put into practice the present invention having under the situation of modifications and changes.Therefore, description and accompanying drawing should be regarded as illustrative, rather than limitation of the present invention.

Claims (15)

1. the method in the image guided radiation therapy system, this method comprises:

Utilization have substantially parallel imaging axis two or more the treatment in the imaging x-ray source come the 3D feature in the imaging region is carried out imaging, wherein described 3D feature is carried out imaging and comprises:

Generate first radioscopic image of described imaging region, this first radioscopic image comprises first characteristics of image corresponding to the described 3D feature in the described imaging region; And

Generation is basically parallel to second radioscopic image of described first radioscopic image, this second radioscopic image comprises second characteristics of image corresponding to the described 3D feature in the described imaging region, and wherein said second characteristics of image is substantially similar to described first characteristics of image; And

Determine the position of described 3D feature in described imaging region.

2. method according to claim 1, this method also comprise by with the 3D pretreat sector scanning of described 3D feature and described imaging region mutually registration follow the tracks of described 3D feature in the described imaging region.

3. method according to claim 1, determine that wherein the position of described 3D feature comprises:

Described first characteristics of image and described second characteristics of image are complementary to obtain the characteristics of image of a pair of coupling; And

Plane coordinates by the characteristics of image of described a pair of coupling is determined the position of described 3D feature in described imaging region.

4. method according to claim 1, wherein said 3D feature comprises a plurality of characteristic points, and wherein generates described first radioscopic image and described second radioscopic image comprises for each characteristic point:

Pass the described characteristic point the described imaging region and in imaging plane, generate first picture point by throw first X ray from first x-ray source, described first picture point has first group of plane coordinates in described imaging plane, this first group of plane coordinates is by being limited in first displacement that departs from imaging axis on the first direction and second displacement that departs from described imaging axis on second direction; And

Pass the described characteristic point the described imaging region and in described imaging plane, generate second picture point by throw second X ray from second x-ray source, described second picture point has second group of plane coordinates in described imaging plane, this second group of plane coordinates limited by the 4th displacement that departs from the triple motion of described imaging axis and depart from described imaging axis on described first direction on described second direction, and it is right that described first picture point and described second picture point have constituted corresponding to the conjugated image point of described characteristic point.

5. method according to claim 1, described first characteristics of image in wherein said first radioscopic image comprises first group of a plurality of picture point, and described second characteristics of image that is similar to described first characteristics of image substantially in described second radioscopic image comprises second group of a plurality of picture point, and wherein mates described first characteristics of image and described second characteristics of image and comprise the similarity measurement that calculates between described first characteristics of image and described second characteristics of image and described first group of a plurality of picture point and described second group of a plurality of picture point are matched with a plurality of conjugated image point centerings.

6. method according to claim 5 determines that wherein the position of described 3D feature in described imaging region comprises described a plurality of conjugated image points being mapped to a plurality of characteristic points of the described 3D feature in the described imaging region.

7. the 3D feature in the method according to claim 1, wherein said imaging region comprises one in reference mark, bent limit, turning and the end points.

8. system that is used for image guided radiation therapy, this system comprises:

Stereo imaging system, this stereo imaging system comprises first imaging device with first imaging axis and second imaging device with second imaging axis that is used for the 3D feature in the imaging region is carried out imaging, and described second imaging axis is basically parallel to described first imaging axis; And

The treatment facility that is coupled with described stereo imaging system, wherein said treatment facility is configured to determine the position of described 3D feature in described imaging region, wherein for described 3D feature is carried out imaging, described stereo imaging system is configured to generate the substantially parallel radioscopic image of described imaging region, described substantially parallel radioscopic image comprises first radioscopic image and second radioscopic image, described first radioscopic image comprises first characteristics of image corresponding to the 3D feature in the described imaging region, described second radioscopic image comprises second characteristics of image corresponding to the described 3D feature in the described imaging region, and wherein said second characteristics of image is similar to described first characteristics of image substantially.

9. system according to claim 8, wherein said treatment facility also be configured to by with the 3D pretreat sector scanning of described 3D feature and described imaging region mutually registration follow the tracks of described 3D feature in the described imaging region.

10. system according to claim 8, wherein in order to determine the position of described 3D feature, described treatment facility is configured to make described first characteristics of image and described second characteristics of image to be complementary obtaining the characteristics of image of a pair of coupling, and determines the position of described 3D feature in described imaging region by the plane coordinates of the characteristics of image of described a pair of coupling.

11. system according to claim 8, described first characteristics of image in wherein said first radioscopic image comprises first group of a plurality of picture point, and described second characteristics of image that is similar to described first characteristics of image substantially in described second radioscopic image comprises second group of a plurality of picture point, and wherein in order to determine the position of described 3D feature, described treatment facility is configured to calculate the similarity measurement between described first characteristics of image and described second characteristics of image, and described first group of a plurality of picture point and described second group of a plurality of picture point are matched with a plurality of conjugated image point centerings.

12. system according to claim 11, wherein in order to determine the position of described 3D feature in described imaging region, described treatment facility is configured to described a plurality of conjugated image points being mapped to a plurality of characteristic points of the described 3D feature in the described imaging region.

13. system according to claim 10, the 3D feature in the wherein said imaging region comprise one in reference mark, bent limit, turning and the end points.

14. a system that is used for image guided radiation therapy, this system comprises:

Stereo imaging system, this stereo imaging system comprises first imaging device with first imaging axis and second imaging device with second imaging axis that is used for the 3D feature in the imaging region is carried out imaging, and described second imaging axis is basically parallel to described first imaging axis; And

The treatment facility that is coupled with described stereo imaging system, wherein said treatment facility is configured to determine the position of described 3D feature in described imaging region, wherein said 3D feature comprises a plurality of characteristic points, and wherein in order to generate substantially parallel radioscopic image, described treatment facility also is configured to for each characteristic point:

Pass the described characteristic point the described imaging region and in imaging plane, generate first picture point by throw first X ray from first x-ray source, described first picture point has first pair of plane coordinates in described imaging plane, this first pair of plane coordinates is by being limited in first displacement that departs from imaging axis on the first direction and second displacement that departs from described imaging axis on second direction; And

Pass the described characteristic point the described imaging region and in described imaging plane, generate second picture point by throw second X ray from second x-ray source, described second picture point has second pair of plane coordinates in described imaging plane, this second pair of plane coordinates limited by the 4th displacement that departs from the triple motion of described imaging axis and depart from described imaging axis on described first direction on described second direction, and it is right that described first picture point and described second picture point have constituted corresponding to the conjugated image point of described characteristic point.

15. system according to claim 14, wherein said first X ray becomes the angle of spending less than 45 with described second X ray at described characteristic point place.

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